Expert Lecture On GPS at UIET, CSJMU Kanpur

Intro Data GNSS Apps&SW Resources Acknowledgements
Global Navigation and Satellite System

A basic introduction to concepts and applications
Suddhasheel Ghosh
Department of Civil Engineering
Indian Institute of Technology Kanpur,
Kanpur - 208016
Expert Lecture on March 21, 2012 at UIET, Kanpur
1 / 52 shudh@IITK Introduction to GNSS
Outline
1
Basic Concepts
Motivation
Mathematical concepts
2
Collecting Geospatial Data
3
Introducing GNSS
GPS Basics
GPS based Math Models
4
Applications and Software
Applications
Software and Hardware
5
Resources
6
Acknowledgements
Intro Data GNSS Apps&SW Resources Acknowledgements Motivation MathCon
Outline
1
Basic Concepts
Motivation
Mathematical concepts
2
3
Introducing GNSS
4
5
Resources
6
Acknowledgements
Where am I?
Locate and navigate
One of the most favourite questions of mankind
Stone age
Using markers like stone, trees and mountains to nd their
way back
Star age
Pole star was a constant reminder of the direction
Most world cultures refer to the Pole star in their literature
Radio age
Radio signals for navigation purposes
Satellite age:
Modern technology
Use of satellites
To understand GPS we need to revise some mathematical concepts.
Taylors series expansion
If f (x) is a given function, then its Taylors series expansion is
given as
f (x) = f (a) +f
(a)(x a) +f
(a)
(x a)
2
2!
+ . . .
Jacobian
If f
1
, f
2
, . . . , f
m
be m different functions, and x
1
, x
2
, . . . , x
n
be n
independent variables, then the Jacobian matrix is given by:
J =
_
_
f
1
x
1
f
1
x
2
. . .
f
1
x
n
f
2
x
1
f
2
x
2
. . .
f
2
x
n
. . . . . .
.
.
.
.
.
.
f
m
x
1
f
m
x
2
. . .
f
m
x
n
_
_
If F denotes the set of functions, and X denotes the set of
variables, the Jacobian can be denoted by
F
X
Least squares adjustment
Fundamental example
Given Problem
Suppose (x
1
, y
1
), (x
2
, y
2
), . . . , (x
n
, y
n
) be n given points. It is
required to t a straight line through these points.
Let the equation of tted straight line be Y = mX +c.
y
1
+
1
= m x
1
+c, y
2
+
2
= m x
2
+c, and so on . . .
Arrange into matrix form
_
2
.
.
.
n
_
_
=
_
_
x
1
1
x
2
1
.
.
.
.
.
.
x
n
1
_
_
m
c
_
_
y
1
y
2
.
.
.
y
n
_
_
Fundamental example continued
To determine m and c we use the formula:
_
m
c
_
=
_
_
_
_
_
_
_
_
x
1
1
x
2
1
.
.
.
.
.
.
x
n
1
_
_
T
_
_
x
1
1
x
2
1
.
.
.
.
.
.
x
n
1
_
_
_
_
_
_
_
_
1 _
_
x
1
1
x
2
1
.
.
.
.
.
.
x
n
1
_
_
T
_
_
y
1
y
2
.
.
.
y
n
_
_
For a general equation
L
b
: set of
observations,
X : set of
parameters.
X
0
: initial
estimate of the
parameters
L
0
: initial
estimate of the
observations.
V : correction
applied to L
b
L
a
: adjusted
observations.
The set of equations is represented by
L
a
= F(X
a
)
Using Taylors series expansion,
L
b
+V = F(X
0
)|
X
a
=X
0
+
F
X
a
X
a
=X
0
(X
a
X
0
) + . . .
This can be represented as
V = AX L
which can be solved by
X = (A
T
A)
1
A
T
L
If case of weighted observations (P is the weight
matrix),
X = (A
T
PA)
1
A
T
PL
Euclidean distance
Formula for nding distance between two points
If p
1
(x
1
, y
1
, z
1
) and p
2
(x
2
, y
2
, z
2
) be two different points in 3D
space, then the distance between the two is given by:
d(p
1
, p
2
) =
_
(x
1
x
2
)
2
+ (y
1
y
2
)
2
+ (z
1
z
2
)
2
Outline
1
Basic Concepts
2
3
Introducing GNSS
4
5
Resources
6
Acknowledgements
Early: Chains, tapes and sextants
Mid: Theodolites, auto levels
Modern: EDM, GNSS
Older methods of collecting geospatial data
Pictures of some instruments
Coordinates of a point
How to nd them?
Figure: A typical resection problem in surveying. Given coordinates
of the known points C
i
, nd the coordinates of the unknown point P
The resection problem
Issues of accuracy and geometry
Resection problem requires the measurement of angles
and distances
All measurements made through theodolites, auto levels,
EDMs etc contain errors
Requirement for minimizing errors: The control points
should be well distributed spatially.
Distance between objects
How to nd it?
What is the distance between the chalk and the
blackboard?
How to nd the distance between a ball and a chair?
How to nd the distance between an aeroplane and the
ground?
If there is a mathematical surface (e.g. plane, sphere etc.)
then it is easier to nd the distance.
The Earth has a rough surface, and it has to be therefore
approximated by a mathematical surface.
Distance between objects
How to nd it?
What is the distance between the chalk and the
blackboard?
How to nd the distance between a ball and a chair?
How to nd the distance between an aeroplane and the
ground?
If there is a mathematical surface (e.g. plane, sphere etc.)
then it is easier to nd the distance.
The Earth has a rough surface, and it has to be therefore
approximated by a mathematical surface.
The mathematical surface
Datum and sphereoids
Kalyanpur: Meaning of 127m
above MSL?
There is no sea in sight? What is
mean sea level?
Geoid: The equipotential surface
of gravity near the surface of the
earth
MSL - Mean sea level (an
approximation to the Geoid
Ellipsoid / spheroid:
approximation to the MSL
Mathematical surface: DATUM
Figure: Src:
http://www.dqts.net/wgs84.htm
above MSL?
mean sea level?
earth
Figure: Src:
above MSL?
mean sea level?
earth
Figure: Src:
World Geodetic System
One of the most prevalent datums
It is an ellipsoid
Semi-major Axis: a = 63, 78, 137.0m
Semi-minor axis: b = 63, 56, 752.314245m
Inverse attening:
1
f
= 298.257223563
Complete description given in the WGS84 Manual
http://www.dqts.net/files/wgsman24.pdf
Parallels and Meridians
Figure: Latitudes and longitudes
Figure: Measurement of angles
Map Projections
... and their needs
It is a three dimensional world ...
But the mapping paper is two-dimensional
A mathematical function: Project 3D world to 2D Paper
Distance preserving
Area preserving
Angle preserving -
conformal
Conical
Cylindrical
Azimuthal
There are guidelines on how to chose a map projection for
your map
Map Projections
... and their needs
It is a three dimensional world ...
But the mapping paper is two-dimensional
A mathematical function: Project 3D world to 2D Paper
Distance preserving
Area preserving
Angle preserving -
conformal
Conical
Cylindrical
Azimuthal
There are guidelines on how to chose a map projection for
your map
Universal transverse mercator
A cylindrical and conformal projection
The world divided into 60
zones - longitudewise
Each zone of 6 degrees
The developer surface is a
cylinder placed tranverse
The central meridian of
the zone forms the central
meridian of the projection
UTM Zone for Kanpur:
44N
Combination of projection
and datum: UTM/WGS84
and Zone 44N
Figure: The UTM zone division
(Src: Wikipedia)
Intro Data GNSS Apps&SW Resources Acknowledgements Basics GPSmodel
Outline
1
Basic Concepts
2
3
Introducing GNSS
GPS Basics
GPS based Math Models
4
5
Resources
6
Acknowledgements
NAVSTAR
The US-based initiative
TRANSIT: The Naval
Navigation System
NAVSTAR:
Navigation
Principally designed
for military action
Landmarks
1978: GPS satellite launched
1983: Ronald Raegan: GPS for
public
1990-91: Gulf war: GPS used for
rst time
1993: Initial operational
capability: 24 satellites
1995: Full operational capability
2000: Switching off selective
availability
GLONASS
The Russian initiative
Global Navigation Satellite
System
First satellite launched:
1982
Orbital period: 11 hrs 15
minutes
Number of satellites: 24
Distance of satellite from
earth: 19100 km
Civilian availability: 2007
GALILEO
The European initiative
30 satellites
14 hours orbit time
23,222 km away from the earth
At least 4 satellites visible from anywhere in the world
First two satellites have been already launched
3 orbital planes at an angle of 56 degrees to the equator
Src: http://download.esa.int/docs/Galileo_IOV_
Launch/Galileo_factsheet_20111003.pdf
GAGAN
The Indian initiative
GPS And Geo-Augmented
Navigation system
Regional satellite based
navigation
Indian Regional
Navigational Satellite
System
Improves the accuracy of
the GNSS receivers by
providing reference
signals
Work likely to be
completed by 2014
Figure: Some setbacks in the
GAGAN programme
www.oosa.unvienna.org/pdf/icg/2008/expert/2-3.pdf
How does a GPS look like?
Three segments
Control segment
Space segment
User segment
Figure: Src: http://infohost.nmt.edu/
How does a GPS look like?
Three segments
Control segment
Space segment
User segment
Figure: Src: http://infohost.nmt.edu/
The Space Segment
Concerns with satellites
Satellite constellation
24 satellites (30 on date)
Downlinks
coded ranging signals
position information
atmospheric
information
almanac
Maintains accurate time
using on-board Cesium
and Rubidium clocks
Runs small processes on
the on-board computer
Figure: Src: www.kowoma.de
The Control Segment
Satellite control and information uplink
GPS Master control
station at Colorado
Springs, Colorado
Master control station is
helped by different
monitoring stations
distributed across the
world
These stations track the
satellites and keep on
regularly updating the
information on the
satellites. Several updates
per day.
Control Stations
Colorado Springs (MCS)
Ascension
Diego Garcia
Hawaii
Kwajalein
What they do?
Satellite orbit and clock
performance parameters
Heath status
Requirement of
repositioning
User segment
Real time positioning with
receiving units
Hand-held receivers or
antenna based receivers
Calculation of position
using Resection
GPS Signals
Choices and contents
Atmosphere - refraction
Ionosphere: biggest
source of disturbance
GPS Signals need
minimum disturbance
and minimum refraction
Signals
Basic frequency (f
0
): 10.23
MHz
L1 frequency (154f
0
):
1575.42 MHz
L2 frequency (120f
0
):
1227.60 MHz
C/A code (
f
0
10
): 1.023 MHz
P(Y) code (f
0
): 10.23 MHz
Another civilian code L5 is
going to be there soon
L1 and L2 frequencies are known as carriers. The C/A and P(Y) carry the navigation message from the satellite to
the reciever. The codes are modulated onto the carriers. In advanced receivers, L1 and L2 frequencies can be used
to eliminate the iospheric errors from the data.
GPS Signals
Receivers and Policies
Basic receiver: L1 carrier and C/A code (for general
public)
Dual frequency receiver: L1 and L2 carriers and C/A code
(for advanced researchers)
Military receivers: L1 + L2 carriers and C/A + P(Y) codes
(for military purposes)
GPS and other GNSS policies are based on various scenarios at
international levels
GPS Signals
Information available to the reciever
Pseudoranges (?)
C/A code available to the civilian user
P1 and P2 codes available to the military user
Carrier phases
L1, L2 mainly used for geodesy and surveying
Range-rate: Doppler
Information is available in receiver dependent and receiver
independent les (RINEX). Advanced receivers come with
additional software to download information from them to
the computer in proprietary and RINEX (Reciever
INdependent EXchange) formats.
ftp://ftp.unibe.ch/aiub/rinex/rinex300.pdf
Range information
Code Pseudorange
True Range (): Geometric distance between the satellite
and the receiver
Time taken to travel = Receiver time at the time of
reception - Satellite time at time of emission of the signal
t = t
r
t
s
t
r
= t
rGPS
+
r
, t
s
= t
sGPS
+
s
Pseudorange (P): distorted by atmospheric
disturbances, clock biases and delays
Thus, true range is given by,
= P c (
r

s
) = P c
s
r
Mathematical model - code based
Receiver watching multiple satellites
Receiver coordinate: (X, Y , Z) and satellite coordinates for m
satellites: (X
i
, Y
i
, Z
i
)
Initial estimate of receiver position: (X
0
, Y
0
, Z
0
)
True range
j
(t) =
_
(X
j
(t) X)
2
+ (Y
j
(t) Y )
2
+ (Z
j
(t) Z)
2
= f
j
(X, Y , Z)
The adjusted coordinates: X = X
0
+ X, Y = Y
0
+ Y ,
Z = Z
0
+ Z
Thus f
j
(X, Y , Z) =
f
j
(X
0
, Y
0
, Z
0
)+
f
j
(X
0
, Y
0
, Z
0
)
X
0
X+
f
j
(X
0
, Y
0
, Z
0
)
Y
0
Y +
f
j
(X
0
, Y
0
, Z
0
)
Z
0
Z
The pseudo-range equations for the m satellites
P
j
(t) =
j
(t) +c[
r
(t)
j
(t)]
Therefore we have:
P
j
(t) = f
j
(X
0
, Y
0
, Z
0
) +
f
j
(X
0
, Y
0
, Z
0
)
X
0
X +
f
j
(X
0
, Y
0
, Z
0
)
Y
0
Y +
f
j
(X
0
, Y
0
, Z
0
)
Z
0
Z +c[
r
(t)
j
(t)]
Take all unknowns to one side
P
j
(t)f
j
(X
0
, Y
0
, Z
0
)+c
j
(t) =
f
j
(X
0
, Y
0
, Z
0
)
X
0
X +
f
j
(X
0
, Y
0
, Z
0
)
Y
0
Y +
f
j
(X
0
, Y
0
, Z
0
)
Z
0
Z +c
r
(t)
Put,
L =
_
_
P
1
(t) f
1
(X
0
, Y
0
, Z
0
) +c
1
(t)
P
2
(t) f
2
(X
0
, Y
0
, Z
0
) +c
2
(t)
. . .
P
m
(t) f
m
(X
0
, Y
0
, Z
0
) +c
m
(t)
_
_
, X =
_
_
X
Y
Z
c
r
(t)
_
_
A =
_
_
f
1
(X
0
,Y
0
,Z
0
)
X
0
f
1
(X
0
,Y
0
,Z
0
)
Y
0
f
1
(X
0
,Y
0
,Z
0
)
Z
0
1
f
2
(X
0
,Y
0
,Z
0
)
X
0
f
2
(X
0
,Y
0
,Z
0
)
Y
0
f
2
(X
0
,Y
0
,Z
0
)
Z
0
1
. . .
.
.
.
.
.
. . . .
f
m
(X
0
,Y
0
,Z
0
)
X
0
f
m
(X
0
,Y
0
,Z
0
)
Y
0
f
m
(X
0
,Y
0
,Z
0
)
Z
0
1
_
_
, V =
_
_
v
1
v
2
.
.
.
v
m
_
_
Use the arrangement:
V = A X L
To obtain,
X = (A
T
A)
1
A
T
L
Mathematical model - code based
Generalized model
Adapted from Leick (2004),
P
j
L1,CA
(t) =
j
(t) +c
j
r
(t) +I
j
L1,CA
+r
j
+T
j
+d
j
L1,CA
+
L1,CA
P
j
L1
(t) =
j
(t) +c
j
r
(t) +I
j
L1
+r
j
+T
j
+d
j
L1
+
L1
P
j
L2
(t) =
j
(t) +c
j
r
(t) +I
j
L2
+r
j
+T
j
+d
j
L2
+
L2
I
j
: Ionospheric error
r
j
: Relativistic error
T
j
: Tropospheric error
d
j
: Hardware delay -
receiver, satellite,
multipath (combination)
: Receiver noise
Mathematical model - carrier phase based
Single receiver watching multiple satellites
The basic ranging equation is given as:
j
(t) =
j
(t) +c(
r
(t)
j
(t)) + N
j
Using Taylors series, we have
j
(t) = f
j
(X
0
) +
f
j
X
X=X
0
X +c(
r
(t)
j
(t)) + N
j
All unknowns to one side,
j
(t) f
j
(X
0
) +c
j
(t) =
f
j
X
X=X
0
X +c
r
(t) + N
j
Number of unknowns: (a) X: 3, (b)
r
(t): 1 and (c) N
j
: Differs
for each satellite. For a single instant and 4 satellites, the
number of unknowns is: 8
Mathematical model - carrier phase based
Epoch-ID X Bias Int.Amb. No.Var. No.Eqns
1 3 +1 4 8 4
2 3 +1 4 9 8
3 3 +1 4 10 12
4 3 +1 4 11 16
5 3 +1 4 12 20
Table: Table showing the number of unknowns and equations as the
epochs progress
Home Work: Compute the matrix notation for the
phase-based model for at least 3-epochs and 4 satellites.
Mathematical model - Advanced carrier phase based
Suppose that f
1
and
1
denote the frequency and wavelength
of L1 carrier and f
2
and
2
denote the frequency of L2 carrrier.
The carrier phase model is given by
j
L1
(t) =
f
1
c

j
(t)+
c
j
r
(t)I
j
L1
(t)+
f
1
c
T
j
(t)+R
j
+d
j
r,L1
(t)+N
j
L1
+w
L1
+
r,L1
j
L2
(t) =
f
2
c

j
(t)+
c
j
r
(t)I
j
L2
(t)+
f
2
c
T
j
(t)+R
j
+d
j
L2
(t)+N
j
L2
+w
L2
+
r,L2
T
j
: Tropospheric error
d
j
r,L1
: Hardware error
I
j
L1/L2
: Ionospheric error
R
j
: Relativity error
N
L1/L2
: Integer ambiguity
w
L1/L2
: Phase winding error
r
: Receiver noise
Advanced methods of positioning
Differential and Relative Positioning
Rapid static
Stop and Go
Real time kinematic (RTK)
RTK is difcult to implement in India for civilians owing to the
defence restrictions.
Sources of errors
Receiver clock bias
Hardware error
Receiver Noise
Phase - wind up
Multipath error
Ionospheric error
Troposheric error
Antenna shift
Satellite drift
Status of GPS Surveying
10-12 yrs earlier
For specialists
National and
continental
networks
Importance of
accuracy
Absence of good
GUI
5 yrs ago
Only post processing
Better and smaller
receivers
Improvement in
positioning methods
Better software
Today
Demand for higher accuracies
and better models
Speed, ease-of-use, advanced
features are key requirements
Surveying to centimeter
accuracy
Automated and user friendly
software
Code measurements to cm level,
phase measurements to mm
level
Better atmospheric models
On its way to becoming a
standard surveying tool
Intro Data GNSS Apps&SW Resources Acknowledgements Applications SW
Outline
1
Basic Concepts
2
3
Introducing GNSS
4
Applications
Software and Hardware
5
Resources
6
Acknowledgements
Applications of GPS
Civil Applications
Aviation
Agriculture
Disaster Mitigation
Location based services
Mobile
Rail
Road Navigation
Shipment tracking
Surveying and Mapping
Time based systems
Military Applications
Soldier guidance for
unfamiliar terrains
Guided missiles
GPS
Partial list of GPS makes
GARMIN
Leica
LOWRANCE
TomTom
Trimble
Mio
Navigon
Software for GPS
Commercial
Leica Geoofce
Leica GNSS Spider
Trimble EZ Ofce
Garmin Communicator
Plugin
University Based
GAMIT
BERNESE
Outline
1
Basic Concepts
2
3
Introducing GNSS
4
5
Resources
6
Acknowledgements
Resources
www.gps.gov
www.kowoma.de
www.gmat.unsw.edu.au/snap/gps/about_gps.htm
Book: Alfred Leick GPS Satellite Surveying
Book: Jan Van Sickle GPS for Land Surveyors
Book: Hofmann-Wellehof et al Global Positioning
System: Theory and Practice
Book: Joel McNamara GPS For Dummies
Outline
1
Basic Concepts
2
3
Introducing GNSS
4
5
Resources
6
Acknowledgements
Acknowledgements
Prof. Onkar Dikshit, Prof., IIT-K
P. K. Kelkar Library, IIT-K
Thank you
For the hearing and the bearing!
Download, Share, Attribute, Non-Commercial, Non-Modiable license
See www.creativecommons.org

Expert Lecture On GPS at UIET, CSJMU Kanpur

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